Robot catching system with stereo vision and DSP platform

Author

Lin, Chyi-Yeu ; Chiu, Yi-Pin ; Lin, Chi-Ying

Author_Institution

Dept. of Mech. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan

fYear

2011

fDate

13-15 Sept. 2011

Firstpage

1

Lastpage

6

Abstract

The Texas Instrument DSP (TMS320DM642 EVM) is used as the implementation platform in our robot catcher system with two CCDs as source of the stereo vision. The system will separate the thrown-in target from the paired images and then calculate the centroid coordinates of each target image, thereby determining the space location of the object. The Lagrange interpolation formula and the linear function are used to simulate the ball trajectory and predict the catch position and then use the inverse kinematics to calculate the rotation angle and velocity of the 2-DOF robot arm system. After that, the control commands are sent by the RS-232 to the robot arm so as to catch the flying object at the expected location. This catcher robot system can catch the ball thrown to it from four meter away with an average success rate of 65%.

Keywords

charge-coupled devices; digital signal processing chips; interpolation; position control; robot dynamics; robot kinematics; robot vision; stereo image processing; 2-DOF robot arm system; CCD; DSP platform; Lagrange interpolation; TMS320DM642 EVM; Texas Instrument DSP; ball trajectory; catch position; inverse kinematics; robot catching system; rotation angle; stereo vision; velocity; Cameras; Educational institutions; Equations; Mathematical model; Robot kinematics; Robot vision systems; 2D kinematics; DSP; Lagrangian interpolation; Robot catcher; Stereo vision;

fLanguage

English

Publisher

ieee

Conference_Titel

AFRICON, 2011

Conference_Location

Livingstone

ISSN

2153-0025

Print_ISBN

978-1-61284-992-8

Type

conf

DOI

10.1109/AFRCON.2011.6072132

Filename

6072132